Testbed results of an opportunistic routing for multi-robot wireless networks

Dong Min Kim, Young Ju Hwang, Seong Lyun Kim, Gwang Ja Jin

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


Opportunistic routing is a candidate for multihop wireless routing where the network topology and radio channels vary rapidly. However, there are not many opportunistic routing algorithms that can be implemented in a real multihop wireless network while exploiting the node mobility. It motivates us to implement an opportunistic routing, random basketball routing (BR), in a real multi-robot network to see if it can enhance the capacity of the multihop network as mobility increases. For implementation purposes, we added some features, such as destination RSSI measuring, a loop-free procedure and distributed relay probability updating, to the original BR. We carried out the experiments on a real multi-robot network and compared BR with AODV combined with CSMA/CA (routing + MAC protocol). We considered both static and dynamic scenarios. Our experiments are encouraging in that BR outperforms AODV + CSMA/CA, particularly in dynamic cases; the throughput of BR is 6.6 times higher than that of AODV + CSMA/CA. BR with dynamic networks shows 1.4 times higher throughput performance than BR with static networks. We investigate the performance of BR in the large-scale network using NS-2 simulation. We verify the effect of node density, speed, destination beacon signal and loop-free procedure. According to the large-scale simulation, the end-to-end throughput grows with the node speed.

Original languageEnglish
Pages (from-to)2174-2183
Number of pages10
JournalComputer Communications
Issue number18
Publication statusPublished - 2011 Dec 1

Bibliographical note

Funding Information:
This work was supported jointly by Electronics and Telecommunications Research Institute (ETRI), and the MKE (The Ministry of Knowledge Economy), Korea , under the ITRC (Information Technology Research Center) support program supervised by the NIPA (National IT Industry Promotion Agency) (NIPA-2010-(C1090-1011-0006)).

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications


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